Related papers: A Focal Any-Angle Path-finding Algorithm Based on …

Graph search, the process of visiting vertices in a graph in a specific order, has demonstrated magical powers in many important algorithms. But a systematic study was only initiated by Corneil et al.~a decade ago, and only by then we…

RRT* is an efficient sampling-based motion planning algorithm. However, without taking advantages of accessible environment information, sampling-based algorithms usually result in sampling failures, generate useless nodes, and/or fail in…

We present algorithms and experiments for the visualization of directed graphs that focus on displaying their reachability information. Our algorithms are based on the concepts of the path and channel decomposition as proposed in the…

Given a graph, the shortest-path problem requires finding a sequence of edges with minimum cumulative length that connects a source vertex to a target vertex. We consider a variant of this classical problem in which the position of each…

We present a novel algorithm that fuses the existing convex-programming based approach with heuristic information to find optimality guarantees and near-optimal paths for the Shortest Path Problem in the Graph of Convex Sets (SPP-GCS). Our…

Automated driving in urban scenarios requires efficient planning algorithms able to handle complex situations in real-time. A popular approach is to use graph-based planning methods in order to obtain a rough trajectory which is…

Approximate Nearest Neighbor Search (ANNS) in high-dimensional spaces finds extensive applications in databases, information retrieval, recommender systems, etc. While graph-based methods have emerged as the leading solution for ANNS due to…

This paper presents a new face identification system based on Graph Matching Technique on SIFT features extracted from face images. Although SIFT features have been successfully used for general object detection and recognition, only…

Graph comparison deals with identifying similarities and dissimilarities between graphs. A major obstacle is the unknown alignment of graphs, as well as the lack of accurate and inexpensive comparison metrics. In this work we introduce the…

We consider the bi-criteria shortest-path problem where we want to compute shortest paths on a graph that simultaneously balance two cost functions. While this problem has numerous applications, there is usually no path minimizing both cost…

Graph reachability is the task of understanding whether two distinct points in a graph are interconnected by arcs to which in general a semantic is attached. Reachability has plenty of applications, ranging from motion planning to routing.…

The paper focuses on two problems: (i) how to orient the edges of an undirected graph in order to maximize the number of ordered vertex pairs (x,y) such that there is a directed path from x to y, and (ii) how to orient the edges so as to…

Graph embedding algorithms are used to efficiently represent (encode) a graph in a low-dimensional continuous vector space that preserves the most important properties of the graph. One aspect that is often overlooked is whether the graph…

We study terrain visibility graphs, a well-known graph class closely related to polygon visibility graphs in computational geometry, for which a precise graph-theoretical characterization is still unknown. Over the last decade, terrain…

Hierarchical, multi-resolution volumetric mapping approaches are widely used to represent large and complex environments as they can efficiently capture their occupancy and connectivity information. Yet widely used path planning methods…

Graph vertex ordering is widely employed in spatial data analysis, especially in urban analytics, where street graphs serve as spatial discretization for modeling and simulation. It is also crucial for visualization, as many methods require…

Given an undirected graph G, the edge orientation problem asks for assigning a direction to each edge to convert G into a directed graph. The aim is to minimize the maximum out degree of a vertex in the resulting directed graph. This…

Smart city has been consider the wave of the future and the route recommendation in networks is a fundamental problem in it. Most existing approaches for the shortest route problem consider that there is only one kind of cost in networks.…

In this work, we introduce a new graph search algorithm, lazy edged based A* (LEA*), for robot motion planning. By using an edge queue and exploiting the idea of lazy search, LEA* is optimally vertex efficient similar to A*, and has…

Feature selection is playing an increasingly significant role with respect to many computer vision applications spanning from object recognition to visual object tracking. However, most of the recent solutions in feature selection are not…